The growing demand for natural interactions with technology underscores the importance of achieving realistic touch sensations in digital environments. Realizing this goal highly depends on comprehensive databases of finger-surface interactions, which need further development. Here, we present SENS3, an extensive open-access repository of multisensory data acquired from fifty surfaces when two participants explored them with their fingertips through static contact, pressing, tapping, and sliding. SENS3 encompasses high-fidelity visual, audio, and haptic information recorded during these interactions, including videos, sounds, contact forces, torques, positions, accelerations, skin temperature, heat flux, and surface photographs. Additionally, it incorporates thirteen participants' psychophysical sensation ratings while exploring these surfaces freely. We anticipate that SENS3 will be valuable for advancing multisensory texture rendering, user experience development, and touch sensing in robotics.

翻译：随着对自然交互技术的需求日益增长，在数字环境中实现逼真触觉体验的重要性愈发凸显。实现这一目标高度依赖于手指-表面交互综合数据库的完善，而此类数据库仍需进一步发展。本文提出SENS3——一个涵盖多种感知数据的开放获取大型数据库，该数据库记录了两位参与者通过静态接触、按压、敲击和滑动四种方式探索五十种表面时采集的多感官数据。SENS3包含交互过程中采集的高保真视觉、音频与触觉信息，具体包括视频、声音、接触力、力矩、位置、加速度、皮肤温度、热通量及表面照片。此外，数据库还整合了十三位参与者在自由探索这些表面时给出的心理物理感知评级。我们预期SENS3将在推动多感官纹理渲染、用户体验开发及机器人触觉感知研究方面发挥重要价值。